CN115061479B - Lane relation determination method and device, electronic equipment and storage medium - Google Patents

Lane relation determination method and device, electronic equipment and storage medium Download PDF

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CN115061479B
CN115061479B CN202210924277.8A CN202210924277A CN115061479B CN 115061479 B CN115061479 B CN 115061479B CN 202210924277 A CN202210924277 A CN 202210924277A CN 115061479 B CN115061479 B CN 115061479B
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lane
point set
point
current
set information
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CN115061479A (en
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柴博
冯刚
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Guoqi Intelligent Control Beijing Technology Co Ltd
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Guoqi Intelligent Control Beijing Technology Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure

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Abstract

The application relates to the technical field of road traffic, and provides a lane relation determination method, a lane relation determination device, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring a current vehicle position point of a vehicle, and determining a current lane where the vehicle is located in a map based on the current vehicle position point; determining point set information of a current lane and point set information of other lanes in a preset range of the current lane; the point set information comprises point set coordinates and course angles corresponding to the lane center line; and judging whether the lane and the current lane are in a front-back connection relation or not according to the point set information of the lane and the point set information of the current lane aiming at each lane in the other lanes so as to control the vehicle according to the judgment result. Therefore, the accuracy of judging the lane connection relation can be improved, the accuracy of acquiring the lane data is improved, and the driving safety of the vehicle is improved.

Description

Lane relation determination method and device, electronic equipment and storage medium
Technical Field
The present application relates to the field of road traffic technologies, and in particular, to a method and an apparatus for determining a lane relationship, an electronic device, and a storage medium.
Background
The high-precision map is an important component of the automatic driving and unmanned technology, so that the automatic driving cannot be assisted by the high-precision map, the lane data is the core content of the high-precision map, and if a vehicle needs to automatically travel along a series of coordinate points given by the high-precision map lane data as a predetermined track, the correct front-back connection relationship between lanes is also indispensable.
In the prior art, the front-back connection relation of lanes can be calculated according to the front-back relation of roads and lanes in a high-precision map and the connection relation of intersections.
However, because there may be an error in the mapping of the high-precision map, there may be a omission or an error in the relationship between the front and rear of the lane at the intersection, so that the determination of the lane connection relationship is erroneous, the accuracy of the generated lane data is not high, and the driving safety of the vehicle is affected.
Disclosure of Invention
The application provides a lane relation determining method, a lane relation determining device, an electronic device and a storage medium, which can improve the accuracy of lane connection relation judgment and further improve the driving safety of a vehicle.
In a first aspect, the present application provides a lane relation determining method, comprising:
acquiring a current vehicle position point of a vehicle, and determining a current lane where the vehicle is located in a map based on the current vehicle position point;
determining point set information of the current lane and point set information of the rest lanes located in the preset range of the current lane; the point set information comprises point set coordinates and course angles corresponding to the lane center line;
and judging whether the lane and the current lane are in a front-back connection relation or not according to the point set information of the lane and the point set information of the current lane aiming at each lane in the other lanes so as to control the vehicle according to a judgment result.
Optionally, determining the point set information of the current lane and the point set information of the remaining lanes located in the preset range of the current lane includes:
acquiring a current lane where the vehicle is located and reference lines corresponding to the rest lanes in a preset range of the current lane, and extracting point set coordinates of the reference lines in a preset area;
aiming at each point of a point set coordinate in a preset area, acquiring a corresponding course angle;
acquiring the width of each lane, a first distance between the outermost line of the left lane adjacent to the lane and the left line of the lane, and a second distance between the outermost line of the right lane adjacent to the lane and the right line of the lane;
and determining point set information of the current lane in a preset area and point set information of the rest lanes in the preset range of the current lane based on the width, the first distance and the second distance.
Optionally, extracting coordinates of a point set of the reference line in a preset region includes:
searching extreme points of curvature on the reference line in a preset area, and judging whether the extreme points are larger than a preset threshold value or not for each extreme point;
if so, sequentially acquiring coordinates of point sets in a preset area according to a gradually increasing preset step length by taking the extreme point as a starting point until the gradually increasing preset step length is larger than a step length corresponding to the extreme point adjacent to the extreme point;
if not, the extreme point is taken as a starting point, and coordinates of a point set in a preset area are sequentially obtained according to a fixed preset step length.
Optionally, determining, based on the width, the first distance, and the second distance, point set information of the current lane in a preset region and point set information of the remaining lanes located in the preset range of the current lane, including:
determining first point set coordinates of a center line of each lane within a preset area based on the width, the first distance, and the second distance;
calculating a first vector direction corresponding to the first point set coordinate in the map and a second vector direction corresponding to the universal transverse axis mercator projection UTM coordinate system;
and mapping the coordinates of the first point set based on the mean value of the difference between the first vector direction and the second vector direction and the course angle corresponding to each point in the coordinates of the first point set, and determining the point set information of the current lane and the point set information of the rest lanes in the preset range of the current lane.
Optionally, determining whether the lane and the current lane are in a front-back connection relationship according to the point set information of the lane and the point set information of the current lane, including:
determining a first starting point coordinate and a first end point coordinate based on a course angle and a point set coordinate in the point set information of the lane, and determining a second starting point coordinate and a second end point coordinate based on the course angle and the point set coordinate in the point set information of the current lane;
judging whether the distance between the first starting point coordinate and the second end point coordinate meets a first preset condition or not; the first preset condition is that the first preset condition is greater than a first threshold value; or, judging whether the distance between the second starting point coordinate and the first end point coordinate meets a second preset condition; the second preset condition is that the second preset condition is greater than a second threshold value;
and determining whether the lane and the current lane are in a front-rear connection relation or not based on the judgment result.
Optionally, the tandem relationship includes a predecessor relationship and a successor relationship; determining whether the lane and the current lane are in a front-back connection relation based on the judgment result, wherein the steps of:
if the distance between the first starting point coordinate and the second ending point coordinate meets a first preset condition, determining that the lane and the current lane are in a subsequent relationship;
and if the distance between the second starting point coordinate and the first end point coordinate meets a second preset condition, determining that the lane and the current lane are in a precursor relationship.
Optionally, the method further includes:
acquiring a first number corresponding to the current lane and second numbers corresponding to the rest lanes within the preset range of the current lane;
if the first number and the second number are the same number, determining that the current lane and the rest lanes located in the preset range of the current lane are the same-direction lanes;
and if the first number and the second number are different numbers, determining that the current lane and the rest lanes in the preset range of the current lane are reverse lanes.
In a second aspect, the present application provides a lane relation determining apparatus, the apparatus comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring a current vehicle position point of a vehicle and determining a current lane where the vehicle is located in a map based on the current vehicle position point;
the determining module is used for determining the point set information of the current lane and the point set information of the other lanes in the preset range of the current lane; the point set information comprises point set coordinates and a course angle corresponding to the lane center line;
and the judging module is used for judging whether the lane and the current lane are in a front-back connection relation or not according to the point set information of the lane and the point set information of the current lane aiming at each lane in the other lanes so as to control the vehicle according to a judgment result.
In a third aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively coupled to the processor;
the memory stores computer execution instructions;
the processor executes computer-executable instructions stored by the memory to implement the method of any one of the first aspects.
In a fourth aspect, the present application provides a computer-readable storage medium storing computer-executable instructions for implementing the lane relation determining method according to any one of the first aspect when the computer-executable instructions are executed by a processor.
In summary, the present application provides a method, an apparatus, an electronic device, and a storage medium for determining a lane relationship, which can determine a current lane where a vehicle is located in a map by obtaining a current vehicle location point of the vehicle and based on the current vehicle location point; further, point set information of the current lane and point set information of the other lanes in the preset range of the current lane are determined; the point set information comprises point set coordinates and course angles corresponding to the lane center line; further, for each lane of the remaining lanes, the determined point set information of the lane and the point set information of the current lane may be utilized to determine whether the lane and the current lane are in a front-back connection relationship, so as to control the vehicle according to the determination result. Therefore, the accuracy of judging the lane connection relation can be improved, the accuracy of acquiring the lane data is improved, and the driving safety of the vehicle is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application;
fig. 2 is a schematic flowchart of a lane relation determining method according to an embodiment of the present disclosure;
fig. 3 is a scene schematic diagram of a lane relationship provided in an embodiment of the present application;
fig. 4 is a schematic view of another scenario for determining a lane relationship according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a lane relation determining apparatus according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Specific embodiments of the present application have been shown by way of example in the drawings and will be described in more detail below. These drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the inventive concepts to those skilled in the art by reference to specific embodiments.
Detailed Description
In order to facilitate clear description of technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish identical items or similar items with substantially the same functions and actions. For example, the first device and the second device are only used for distinguishing different devices, and the sequence order thereof is not limited. Those skilled in the art will appreciate that the terms "first," "second," and the like do not denote any order or importance, but rather the terms "first," "second," and the like do not denote any order or importance.
It is noted that, in the present application, words such as "exemplary" or "for example" are used to mean exemplary, illustrative, or descriptive. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.
In the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated object, indicating that there may be three relationships, for example, a and/or B, which may indicate: a exists alone, A and B exist simultaneously, and B exists alone, wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or multiple.
In the field of automatic driving, an automatic driving vehicle can not leave the assistance of a high-precision map, the current high-precision map comprises road information, intersection information, map coordinate origin, projection mode and other information, wherein the road information comprises lane information, road connection relation, lane front-back relation, lane geometric shape, lane width, lane line type and other information, the format for storing the information is an openrive file, and the suffix of the file is xodr.
Because the format of the openrive file is not a high-precision map specially developed for the automatic driving vehicle, the storage form of the shape of the road in the file is a form of a curve equation, such as a straight line, an arc line, a spiral line, a cubic curve and the like, the file in the form of the curve equation cannot be directly used by the automatic driving vehicle, and each parameter of the curve equation needs to be extracted to convert the curve equation into a form of a point set.
In a possible implementation manner, the curve coordinate parameters in the opendrive file can be extracted, the required waypoint information is calculated according to the scene requirement, namely, the front and back relations of the road and the lane in the high-precision map and the point set position information corresponding to the connection relation of the intersection are extracted, and then the front and back connection relation of the lane is calculated.
However, the extraction of the point set position information is usually performed at equal distances, and the connection relationship between the road, the front and back relationship of the lane, and the connection relationship between the intersections are usually set according to the connection relationship provided in the map, and because there may be an error in the drawing of the high-precision map, there may be a missing or wrong connection relationship between the lanes at the intersections, which may cause a wrong determination of the connection relationship between the lanes, and the accuracy of the generated lane data is not high, which affects the driving safety of the vehicle.
It should be noted that, the connection relationship of roads usually involves two aspects, one is road-level connection, but it cannot be directly applied in lane-level automatic navigation; the other is the connection relationship of lanes, but it is necessary to determine which lane is specifically connected according to the roads and road segments to which the front and rear lanes belong, which also causes inconvenience in use. Therefore, in the actual use process, two aspects of form conversion need to be carried out on the road curve equation: firstly, converting the road shape from a curve form to a point set form; secondly, converting the connection relation of the two roads into a specific connection relation between lanes, wherein the connection relation comprises a front-back relation and a left-right adjacent relation; in this way, it can be applied in autonomous driving.
In order to solve the above problem, the present application provides a lane relation determining method, which can determine a lane connection relation according to a relative relation between a current lane where a current driving vehicle is located and two end physical positions of other lanes within a preset range of the current lane, specifically, obtain point set information of the current lane where the current driving vehicle is located in a map and point set information of the other lanes located within the preset range of the current lane, determine the connection relation of the lanes, and further control the driving vehicle, wherein the point set information is point set coordinates and a course angle corresponding to a lane center line. In this way, although the judgment factor is simple, the judgment of the lane connection relation by using the physical position of the lane is more reliable, so that the accuracy of the judgment of the lane connection relation can be improved, the accuracy of the generated lane data is improved, and the vehicle can run safely.
For example, the lane relation determining method provided above may be applied to an autonomous vehicle, and fig. 1 is an application scenario diagram provided in an embodiment of the present application. The application scenario includes: the automatic driving vehicle 101 is equipped with a vehicle navigation system 102 inside the automatic driving vehicle 101, the vehicle navigation system can acquire the current position of the automatic driving vehicle 101 and acquire a high-precision map 103 based on a global positioning system, and further, the automatic driving vehicle 101 can determine the front-back connection relation between the current lane and the other lanes according to the current lane where the acquired current position is located in the high-precision map 103 and the position relative relation between the current lane and the other lanes within the preset range of the current lane, so as to control the automatic driving vehicle 101 to run according to the front-back connection relation of the lanes.
The technical solution of the present application will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 2 is a schematic flowchart of a lane relation determining method provided in an embodiment of the present application, and as shown in fig. 2, the lane relation determining method includes the following steps:
s201, acquiring a current vehicle position point of a vehicle, and determining a current lane where the vehicle is located in a map based on the current vehicle position point.
In the embodiment of the present application, the manner of obtaining the current vehicle location point of the vehicle may include: global positioning system, base station positioning, bluetooth or wireless local area network positioning, etc., which are not specifically limited in this embodiment of the present application.
For example, in the application scenario of fig. 1, a current vehicle location point of the autonomous vehicle 101 may be obtained in real time through a global positioning system, and further, a current lane of the autonomous vehicle 101 in the high-precision map 103 is determined based on the determined current vehicle location point.
S202, determining point set information of the current lane and point set information of the rest lanes located in the preset range of the current lane; the point set information comprises point set coordinates and course angles corresponding to the lane center line.
In this embodiment of the present application, the point set information may be extracted from a curve equation corresponding to a lane center line, the parameters extracted from the curve equation may include information such as a coordinate of each point in the curve equation, a heading angle of each point, a length of a curve, and a curvature of each point, the coordinate of each point in the curve equation forms a point set coordinate, and the point set coordinate may also be a value taken according to a preset step length, which is not specifically limited in this embodiment of the present application.
In this step, the point set information of the remaining lanes in the preset range of the current lane is determined, where the preset range may refer to a set range value used for determining that the remaining lanes are within a reasonable range from the current lane, and for example, the preset range may be a circular region determined by taking the current vehicle as a center of a circle and taking a preset length as a radius, and the setting of the preset range may reduce the influence of other irrelevant lanes, so that lanes where the vehicle is traveling have a connection relationship or have a corresponding relationship within a certain distance range, for example, a vehicle traveling in an area a where the vehicle is traveling and the remaining lanes corresponding to the current lane are both located in the area a and a lane located in the area B is not detected, so that the connection relationship between the current lane and the remaining lanes corresponding to the current lane can be accurately determined.
For example, in the application scenario of fig. 1, point set coordinates and a heading angle corresponding to a lane center line of a current lane where the autonomous vehicle 101 is located may be determined, and further, a preset range is set with the autonomous vehicle 101 as a center of a circle and 1 kilometer as a radius, so as to determine the remaining lanes located within the preset range, and obtain point set coordinates and heading angles corresponding to lane center lines of the remaining lanes.
S203, aiming at each lane in the other lanes, judging whether the lane and the current lane are in a front-back connection relation or not according to the point set information of the lane and the point set information of the current lane, and controlling the vehicle according to a judgment result.
In the embodiment of the application, the front-back connection relation comprises a precursor relation and a successor relation, wherein the precursor relation refers to a front position located in the current lane and is in front-back connection with the current lane; the subsequent relation refers to the relation that the subsequent relation is located at the rear position of the current lane and is connected with the current lane from back to front, wherein the lanes with the precursor relation between the current lane and the current lane are in the same direction, and the lanes with the subsequent relation between the current lane and the current lane are also in the same direction.
After determining whether each lane in the rest of lanes is in a front-back connection relationship with the current lane, the vehicle can be controlled to run according to the determined front-back connection relationship, namely if determining that a first lane in the rest of lanes is in a front-driving relationship with the current lane, the vehicle can be controlled to run to the first lane, and if determining that a second lane in the rest of lanes is in a back-driving relationship with the current lane, the vehicle can be controlled not to run to the second lane.
It should be noted that the lane connection relationship further includes: the method for determining the left-right adjacent relationship of the lanes, namely the left lane of the current lane and the left lane of the current lane, can be directly obtained from a high-precision map, and can also be calculated based on a predefined algorithm, and the embodiment of the application is not particularly limited to this.
For each lane in the rest of lanes, judging whether the lane and the current lane are in a front-back connection relationship according to the point set information of the lane and the point set information of the current lane; and if the lane is determined to be in a forerunner relationship with the current lane, controlling the vehicle to drive to the lane, and if the lane is determined to be in a successor relationship with the current lane, controlling the vehicle to avoid driving to the lane, so that the occurrence of the reverse driving condition of the vehicle is reduced.
Therefore, the lane relation determining method provided by the application can determine the current lane where the vehicle is located in the map by acquiring the current vehicle position point of the vehicle and based on the current vehicle position point; further, point set information of the current lane and point set information of the other lanes in the preset range of the current lane are determined; further, for each lane of the remaining lanes, the determined point set information of the lane and the point set information of the current lane may be used to determine whether the lane and the current lane are in a front-back connection relationship, so as to control the vehicle according to the determination result. Therefore, the accuracy of judging the lane connection relation can be improved, the accuracy of acquiring lane data is improved, and the driving safety of the vehicle is improved.
Optionally, determining the point set information of the current lane and the point set information of the remaining lanes located in the preset range of the current lane includes:
acquiring a current lane where the vehicle is located and reference lines corresponding to the rest lanes in a preset range of the current lane, and extracting point set coordinates of the reference lines in a preset area;
aiming at each point of a point set coordinate in a preset area, acquiring a corresponding course angle;
acquiring the width of each lane, a first distance between the outermost line of the left lane adjacent to the lane and the left line of the lane, and a second distance between the outermost line of the right lane adjacent to the lane and the right line of the lane;
and determining point set information of the current lane in a preset area and point set information of the rest lanes in the preset range of the current lane based on the width, the first distance and the second distance.
In the embodiment of the present application, the reference line may refer to a geometric equation corresponding to a lane shape, in the high-precision map, one road may include at least one lane, the reference line of each road is described by the geometric equation, and the reference line corresponding to at least one lane included in each road is different, for example, the reference line of a certain road is y = ax 2 The value of + bx + c, c determines a reference line corresponding to at least one lane included in the road, for example, two lane reference lines in the road are y = ax 2 + bx +1 and y = ax 2 + bx +2; and calculating the coordinates of the point set of the road in the local coordinate system according to the geometric parameters corresponding to the geometric equation.
The preset area is used for limiting point set coordinates in a local coordinate system, and as a geometric equation can have numerous point set coordinates in the coordinate system, in order to facilitate calculation, the point set coordinates in the local coordinate system are only used for expressing the point set coordinates corresponding to each lane.
In this step, determining the point set information of the current lane and the point set information of the remaining lanes within the preset range of the current lane in the preset area based on the width, the first distance and the second distance is divided into two cases, one is a case where the lane width is equidistant, in which case, the point set information of the current lane and the point set information of the remaining lanes within the preset range of the current lane can be directly determined based on the lane width; and secondly, the lane width is changed for the lane width, in this case, a first distance between the outermost line of the left lane adjacent to the current lane and the left line of the lane, a second distance between the outermost line of the right lane adjacent to the lane and the right line of the lane and the width of the current lane need to be acquired, and point set information of the current lane and point set information of other lanes in the preset range of the current lane are calculated by using a mathematical translation method.
It can be understood that if the lane widths on the same road are equidistant, the heading angle of each point on the corresponding center line of each lane is consistent, and if the lane widths on the same road are variable, the heading angle of each point on the corresponding center line of each lane is recalculated according to the positions of the adjacent points, i.e., the heading angle can be recalculated according to the reference lines corresponding to the left and right lanes adjacent to the lane.
Therefore, according to the embodiment of the application, the point set information of the corresponding current lane and the point set information of the other lanes located in the preset range of the current lane can be extracted according to the lane width changing on the road or the lane width at equal distance, the application range is wide, the point set information not only contains the position information of the point set, but also contains course angle information, the accuracy of obtaining the lane center line corresponding to each lane is higher, and the follow-up road selection and lane change are facilitated.
Optionally, extracting coordinates of a point set of the reference line in a preset area includes:
searching extreme points of curvature on the reference line in a preset area, and judging whether the extreme points are larger than a preset threshold value or not aiming at each extreme point;
if yes, sequentially acquiring coordinates of point sets in a preset region by taking the extreme point as a starting point according to gradually increasing preset step lengths until the gradually increasing preset step lengths are larger than the step lengths corresponding to the extreme points adjacent to the extreme point;
if not, the extreme point is taken as a starting point, and coordinates of a point set in a preset area are sequentially obtained according to a fixed preset step length.
In this application embodiment, the extreme point of the curvature may refer to a maximum point and a minimum point on a reference line corresponding to each lane, and the curve refers to a rotation rate of a tangential direction angle to an arc length for a certain point on the reference line, which indicates a degree of deviation from a straight line, that is, a degree of bending of the curve at the certain point. The preset threshold may be a threshold set for determining a curvature, where, for a lane reference line, when a curvature of an extreme point is greater than the preset threshold, it is described that the curvature of the reference line is large, for the lane reference line, a gradually increasing preset step size needs to be set to extract a point set coordinate on the reference line, and for a lane reference line, when a curvature of the extreme point is smaller than the preset threshold, it is described that the curvature of the reference line is small, the point set coordinate may be extracted on the reference line according to a fixed preset step size.
The preset step length may refer to a set distance between points on the reference line, and the gradually increasing preset step length may be a step length increasing according to a certain rule, and may be an exponential increase, such as 2,4,8 \82302; 2 n Or may be increased in proportion, for example, 2,4,6 \82302n +2,n is a positive integer greater than 0, which is not specifically limited in the embodiment of the present application, and specific values of the preset threshold and the preset step are also not limited in the embodiment of the present application, which is only an example in the embodiment.
Illustratively, taking a reference line having two adjacent extreme points a and B as an example, taking the extreme point a as a calculation starting point, taking values forward in sequence according to a gradually increasing preset step length, for example, taking values at intervals of 0.5, 1, 1.5, 2, 2.5, etc., correspondingly, taking the extreme point B as the calculation starting point, taking values backward in sequence according to the gradually increasing preset step length, for example, taking values at intervals of 0.5, 1, 1.5, 2, etc., when a fifth point taken based on the forward changing step length of the extreme point a coincides with a fourth point taken based on the backward changing step length of the extreme point B, it is determined that the step length 2.5 is greater than 2, at this time, the point taking is stopped, and then taking the extreme point a as the starting point, a total of five points of the point set coordinates in the preset region is sequentially obtained.
It should be noted that, when two adjacent extreme points sequentially obtain the coordinates of the point set in the preset region according to the gradually increasing preset step length, the preset step lengths set by the two adjacent extreme points may be the same or different, and the gradually increasing rules may be the same or different, which is not specifically limited in this embodiment of the present application.
In the step, when extracting the point set coordinates of the reference line in the preset area, the point set coordinates on the reference line are extracted according to equidistant step lengths, which may cause overlarge storage capacity, so that the point set coordinates on the reference line can be extracted densely for the road section with larger curvature, namely, a smaller step length is set for extracting the point set coordinates on the reference line; the road sections of the straight line part can be sparse, namely, a larger step length is set for extracting the coordinates of the point set on the reference line, so that the storage space of the coordinates of the point set can be saved.
Specifically, an extreme point of curvature on a reference line in a preset area is obtained, further, according to the size of the extreme point, points are densely taken on a road section with a large curvature, points are sparsely taken on a road section with a small curvature, optionally, different preset step lengths can be divided according to the size of the extreme point of curvature to take the points, each preset interval corresponds to a preset step length by setting a plurality of preset intervals, and corresponding preset step lengths are selected to take the points on the reference line by judging that the extreme point is located in the corresponding preset interval.
It can be understood that, because the long straight line section of the high-precision map may be formed by splicing a plurality of shorter straight lines, at the straight line joint, an inflection point may exist, the curvature of the inflection point is too large, and if points are sparsely fetched on the straight line part, the occurrence of the inflection point can be reduced to a certain extent, and the accuracy of acquiring the coordinates of the point set is improved.
Therefore, the method and the device can carry out variable interval point taking on the lane central line according to the curvature, so as to replace equal interval dense point taking, save storage space and improve the accuracy of obtaining the coordinates of the point set.
Optionally, determining, based on the width, the first distance, and the second distance, point set information of the current lane in a preset region and point set information of the remaining lanes located in the preset range of the current lane, including:
determining first point set coordinates of a center line of each lane within a preset area based on the width, the first distance, and the second distance;
calculating a first vector direction corresponding to the first point set coordinate in the map and a second vector direction corresponding to the universal transverse axis mercator projection UTM coordinate system;
and mapping the coordinates of the first point set based on the mean value of the difference between the first vector direction and the second vector direction and the course angle corresponding to each point in the coordinates of the first point set, and determining the point set information of the current lane and the point set information of the rest lanes in the preset range of the current lane.
The first point set coordinate may refer to a point set coordinate corresponding to a center line extracted according to a preset step length.
In the embodiment of the application, after point set information of a lane is extracted according to the geometric shape of the lane, for example, point set information including point set coordinates (x, y) is obtained, longitude and latitude coordinates of each point under wgs84 coordinates are reversely deduced according to a projection mode provided by a high-precision map, and further, point set coordinates (x ', y') under the coordinate system are calculated according to a Universal Transverse Mercator (UTM) mode, wherein the point set coordinates (x ', y') correspond to point set information of the current lane and point set coordinates in point set information of other lanes in a preset range of the current lane.
Specifically, the point set coordinates (x ', y') are obtained as follows: the method comprises the steps of firstly, acquiring longitude and latitude coordinates corresponding to an original point (0, 0) of a first point set coordinate in a high-precision map according to a projection mode of the high-precision map, setting the longitude and latitude coordinates as original point coordinates under a UTM coordinate system, further, reversely deducing the longitude and latitude coordinates under wgs84 coordinates corresponding to each point in the first point set coordinate, calculating a first vector direction corresponding to each point under the high-precision map, further, calculating the longitude and latitude coordinates of each point under the UTM coordinate system in the first point set coordinate, calculating a second vector direction corresponding to each point under the UTM coordinate system, further, calculating included angles between the first vector direction and the second vector direction corresponding to each point under the two coordinate systems, calculating an average value of the included angles, wherein the average value is an angle of rotation of the coordinate system approximate to the high-precision map relative to the UTM coordinate system, further, rotating the (x, y) corresponding to the first point set coordinate by the corresponding angle by using vector calculation, and obtaining a heading angle of each point in the UTM coordinate set under the UTM coordinate system (x, y') which is added with the corresponding point in the UTM coordinate system).
It can be understood that, in practical application, if the autonomous vehicle uses different maps, and the projection modes of each map are different, so that multiple sets of coordinate conversion codes need to be deployed to be suitable for determining the lane relationship of the application, and troubles are brought to code management and development, so that the application provides a coordinate conversion mode, point set information under a UTM coordinate system can be obtained by modifying an optional original file, uniformly converting the coordinates into coordinates under the UTM coordinate system, namely, a python script language, and modifying corresponding (x, y) and course angles in the original optional file in a character string replacement mode, and the coordinate conversion mode is suitable for high-precision maps manufactured in any projection mode, and the processing steps are the same, so that the development and maintenance costs of codes converted between different coordinate systems at the later stage are saved, and convenience is brought to subsequent development.
Therefore, different maps may be used by the autonomous vehicle, and the point set information extracted from the different maps is converted by using the universal UTM map coordinate conversion method, and the point set information is unified into a form under the UTM coordinate system, so that the flexibility of the lane relation determination method is improved, the application range of the method is increased, and convenience is provided for subsequent development.
Optionally, determining whether the lane and the current lane are in a front-back connection relationship according to the point set information of the lane and the point set information of the current lane, including:
determining a first starting point coordinate and a first end point coordinate based on a course angle and a point set coordinate in the point set information of the lane, and determining a second starting point coordinate and a second end point coordinate based on the course angle and the point set coordinate in the point set information of the current lane;
judging whether the distance between the first starting point coordinate and the second end point coordinate meets a first preset condition or not; the first preset condition is that the first preset condition is greater than a first threshold value; or, judging whether the distance between the second starting point coordinate and the first end point coordinate meets a second preset condition; the second preset condition is that the second preset condition is greater than a second threshold value;
and determining whether the lane and the current lane are in a front-rear connection relation or not based on the judgment result.
In this embodiment of the application, the first preset condition may refer to a set condition for determining whether the relative relationship between the two physical positions of the lanes is a subsequent relationship, which may be determined by determining whether the distance between the start coordinate of the center line of a certain lane and the end coordinates of the center lines of the other lanes is within a certain threshold range, for example, by determining that the distance is greater than the first threshold, the second preset condition may refer to a set condition for determining whether the relative relationship between the two physical positions of the lanes is a predecessor relationship, and the setting condition is the same as the first preset condition, which is not described herein again.
Specifically, the lane relationship is judged by adopting the relative relationship of the physical positions of the two ends of the lane, and the judgment conditions are as follows: sequentially judging whether the distance between the end point coordinates of the rest lanes in the preset range of the lane and the start point coordinates is within a certain threshold range for the start point coordinates of the center line of a certain lane, and if so, adding the lane into a lane precursor list; and sequentially judging whether the distance between the start coordinates and the end coordinates of the rest lanes in the preset range of the lane is within a certain threshold value range or not for the end coordinates of the center line of a certain lane, and if so, adding the lane into a lane successor list.
It should be noted that, lanes included in the predecessor list and the current lane are both in a predecessor relationship, and lanes included in the successor list and the current lane are both in a successor relationship, and the specific values of the second threshold corresponding to the predecessor relationship and the first threshold corresponding to the successor relationship are determined in the embodiment of the present application are not limited.
Therefore, the embodiment of the application can judge the lane connection relation according to the position of the lane endpoint, so as to replace the lane connection logic provided in the map file, and has higher reliability and fault tolerance.
Optionally, the tandem relationship includes a predecessor relationship and a successor relationship; determining whether the lane and the current lane are in a front-back connection relation based on the judgment result, wherein the steps of:
if the distance between the first starting point coordinate and the second ending point coordinate meets a first preset condition, determining that the lane and the current lane are in a subsequent relationship;
and if the distance between the second starting point coordinate and the first end point coordinate meets a second preset condition, determining that the lane and the current lane are in a precursor relationship.
For example, fig. 3 is a scene schematic diagram of a lane relationship provided in an embodiment of the present application, as shown in fig. 3, taking driving in a direction shown in the diagram as an example, if an autonomous vehicle is located in a lane D, the lane D is in a predecessor relationship with the lanes a and B, and if the autonomous vehicle is located in the lane a, the lane a is in a successor relationship with the lane D, in fig. 3, taking a current lane as the lane D as an example, there are lanes a, B, C, E, F, etc. in lanes within a preset range of the lane D, and by determining distances between a start point coordinate of a center line of the lane D and end point coordinates of center lines of the lanes a and B, and determining that the distances between the start point coordinate of the center line of the lane D and the end point coordinates of the center lines of the lanes a and B satisfy a second preset condition, it is determined that the lanes a, B are in a predecessor relationship with the lanes D, and the distances between the start point coordinates of the center lines of the lane D and the lane C do not satisfy the second preset condition, so that the lane C is not a predecessor relationship, and the successor similar relationship can no longer be explained.
Optionally, because the heading angle information of the point set is added to the collected point set information in the embodiment of the application, in a vehicle starting stage, the possibility of searching a reverse lane can be reduced according to the heading angle information by searching a driveway which can be driven in a preset range of a current lane, for example, because the heading angle information of the driveway C, the driveway C and the driveway D are determined not to be in a predecessor relationship, convenience is increased during navigation, and the heading angle information of each point does not need to be repeatedly calculated in real time in the vehicle driving process, so that the calculation time is saved.
Therefore, the method and the device for determining the lane front-back connection relation can determine the front-back connection relation of the lane based on the start point coordinate and the end point coordinate corresponding to the center line of each lane, the determination condition is simple, and the accuracy of the lane relation is improved compared with that of a lane relation directly provided in a map.
Optionally, the method further includes:
acquiring a first number corresponding to the current lane and second numbers corresponding to the rest lanes within the preset range of the current lane;
if the first number and the second number are the same number, determining that the current lane and the rest lanes in the preset range of the current lane are the same-direction lanes;
and if the first number and the second number are different numbers, determining that the current lane and the rest lanes in the preset range of the current lane are reverse lanes.
In the embodiment of the application, the first number and the second number are numbers provided by a map and used for determining a lane connection relationship, specifically, the numbers corresponding to each lane are displayed in a size sequence, correspondingly, a point set of the lane opposite to the lane reference line direction also needs to be arranged in a reverse sequence, and a heading angle of each point needs to be processed by plus or minus 180 degrees, so that the lane directions can be distinguished.
For example, fig. 4 is another scene schematic diagram for determining a lane relationship provided in the embodiment of the present application, and as shown in fig. 4, an adjacent relationship of vehicles may be determined by a number of a road where lanes are located, for example, a left adjacent lane and a right adjacent lane of a lane-2 on the same road are lanes-1 and-3 respectively; as the lane No. 2 is subjected to reverse order adjustment, the left and right adjacent lanes are respectively the lanes 1 and 3, wherein the lanes 1, 2 and 3 are of different signs with the lanes-1, -2 and-3, and the lanes are mutually reverse lanes, so that the lanes 1, 2 and 3 need to be subjected to reverse order adjustment.
It can be understood that if the numbers corresponding to the lane 1 and the lane-1 are different signs, the lane 1 and the lane-1 are determined to be reverse lanes; and if the numbers corresponding to the lane 1 and the lane 2 are the same, determining that the lane 1 and the lane 2 are the same-direction lanes.
Therefore, the lane homodromous and the lane reversal can be determined through the lane number, and the condition that the lane reversal is searched can be reduced through the judgment of the lane number in the vehicle starting stage, so that the vehicle can be safely arranged on a correct road, and the driving safety is improved.
It should be noted that, the point set information generated in the embodiment of the present application is combined with other modules of the automatic driving, and is proved by a simulation software test: according to the curvature value, points are densely taken on a road section with larger curvature, and points are sparsely taken on a straight road section, so that the occurrence of turning points in a small range can be reduced, and the vehicle can run more smoothly; the UTM coordinate system conversion mode is feasible in practical application; the course angle information is added into the point set information corresponding to the lane central line, the course angle of each point is calculated off line in advance, the calculation time during road searching can be saved, the time saved by the function can be used for increasing the application function of the vehicle, and the application function of the vehicle is richer.
In the foregoing embodiment, the lane relation determining method provided in the embodiment of the present application is described, but in order to implement each function in the method provided in the embodiment of the present application, the electronic device serving as an execution subject may include a hardware structure and/or a software module, and each function is implemented in the form of a hardware structure, a software module, or a hardware structure plus a software module. Whether any of the above-described functions is implemented as a hardware structure, a software module, or a hardware structure plus a software module depends upon the particular application and design constraints imposed on the technical solution.
For example, fig. 5 is a schematic structural diagram of a lane relation determining apparatus provided in an embodiment of the present application, and as shown in fig. 5, the apparatus includes: an acquisition module 501, a determination module 502 and a judgment module 503; the obtaining module 501 is configured to obtain a current vehicle position point of a vehicle, and determine a current lane where the vehicle is located in a map based on the current vehicle position point;
the determining module 502 is configured to determine point set information of the current lane and point set information of the remaining lanes located within the preset range of the current lane; the point set information comprises point set coordinates and a course angle corresponding to the lane center line;
the determining module 503 is configured to determine, for each lane of the remaining lanes, whether the lane and the current lane are in a front-back connection relationship according to the point set information of the lane and the point set information of the current lane, so as to control the vehicle according to a determination result.
Optionally, the determining module 502 includes an extracting unit, a first obtaining unit, a second obtaining unit and a first determining unit;
specifically, the extracting unit is configured to obtain a current lane where the vehicle is located and reference lines corresponding to other lanes within a preset range of the current lane, and extract point set coordinates of the reference lines in a preset area;
the first obtaining unit is used for obtaining a corresponding course angle for each point of a point set coordinate in a preset area;
the second acquiring unit is used for acquiring the width of each lane, a first distance between the outermost line of the left lane adjacent to the lane and the left line of the lane, and a second distance between the outermost line of the right lane adjacent to the lane and the right line of the lane;
the first determining unit is configured to determine point set information of the current lane and point set information of the remaining lanes located in the preset range of the current lane in a preset area based on the width, the first distance, and the second distance.
Optionally, the extracting unit is specifically configured to:
searching extreme points of curvature on the reference line in a preset area, and judging whether the extreme points are larger than a preset threshold value or not for each extreme point;
if yes, sequentially acquiring coordinates of point sets in a preset region by taking the extreme point as a starting point according to gradually increasing preset step lengths until the gradually increasing preset step lengths are larger than the step lengths corresponding to the extreme points adjacent to the extreme point;
if not, the extreme point is taken as a starting point, and coordinates of point sets in the preset area are sequentially obtained according to a fixed preset step length.
Optionally, the first determining unit is specifically configured to:
determining first point set coordinates of a center line of each lane within a preset area based on the width, the first distance and the second distance;
calculating a first vector direction corresponding to the first point set coordinate in the map and a second vector direction corresponding to the universal transverse axis mercator projection UTM coordinate system;
and mapping the first point set coordinate based on the mean value of the difference between the first vector direction and the second vector direction and the course angle corresponding to each point in the first point set coordinate, and determining the point set information of the current lane and the point set information of the other lanes in the preset range of the current lane.
Optionally, the determining module 503 includes a second determining unit, a determining unit and a third determining unit;
specifically, the second determining unit is configured to determine a first start point coordinate and a first end point coordinate based on the course angle and the point set coordinate in the point set information of the lane, and determine a second start point coordinate and a second end point coordinate based on the course angle and the point set coordinate in the point set information of the current lane;
the judging unit is used for judging whether the distance between the first starting point coordinate and the second ending point coordinate meets a first preset condition or not; the first preset condition is that the first preset condition is greater than a first threshold value; or, judging whether the distance between the second starting point coordinate and the first end point coordinate meets a second preset condition; the second preset condition is that the second preset condition is greater than a second threshold value;
and the third determining unit is used for determining whether the lane and the current lane are in a front-back connection relation or not based on the judgment result.
Optionally, the tandem relationship includes a predecessor relationship and a successor relationship; the third determining unit is specifically configured to:
if the distance between the first starting point coordinate and the second ending point coordinate meets a first preset condition, determining that the lane and the current lane are in a subsequent relationship;
and if the distance between the second starting point coordinate and the first end point coordinate meets a second preset condition, determining that the lane and the current lane are in a forerunner relationship.
Optionally, the apparatus further includes an acquisition confirmation module, where the acquisition confirmation module is configured to:
acquiring a first number corresponding to the current lane and second numbers corresponding to the rest lanes within the preset range of the current lane;
if the first number and the second number are the same number, determining that the current lane and the rest lanes in the preset range of the current lane are the same-direction lanes;
and if the first number and the second number are different numbers, determining that the current lane and the rest lanes in the preset range of the current lane are reverse lanes.
For specific implementation principles and effects of the lane relation determining apparatus provided in the embodiment of the present application, reference may be made to the relevant description and effects corresponding to the above embodiments, which are not described herein in detail.
An embodiment of the present application further provides a schematic structural diagram of an electronic device, and fig. 6 is a schematic structural diagram of an electronic device provided in an embodiment of the present application, and as shown in fig. 6, the electronic device may include: a processor 601 and a memory 602 communicatively coupled to the processor; the memory 602 stores computer programs; the processor 601 executes the computer program stored in the memory 602, so that the processor 601 executes the method according to any of the embodiments.
The memory 602 and the processor 601 may be connected by a bus 603.
Embodiments of the present application further provide a computer-readable storage medium, in which computer program execution instructions are stored, and the computer program execution instructions, when executed by a processor, are used to implement the method according to any of the foregoing embodiments of the present application.
The embodiment of the present application further provides a chip for executing the instruction, where the chip is used to execute the method in any of the foregoing embodiments executed by the electronic device in any of the foregoing embodiments of the present application.
Embodiments of the present application further provide a computer program product, which includes a computer program, and when executed by a processor, the computer program can implement the method in any of the foregoing embodiments as performed by an electronic device in any of the foregoing embodiments of the present application.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of modules is merely a division of logical functions, and an actual implementation may have another division, for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed coupling or direct coupling or communication connection between each other may be through some interfaces, indirect coupling or communication connection between devices or modules, and may be in an electrical, mechanical or other form.
Modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to implement the solution of the embodiment.
In addition, functional modules in the embodiments of the present application may be integrated into one processing unit, or each module may exist alone physically, or two or more modules are integrated into one unit. The unit formed by the modules can be realized in a hardware mode, and can also be realized in a mode of hardware and a software functional unit.
The integrated module implemented in the form of a software functional module may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) or a processor to execute some steps of the methods described in the embodiments of the present application.
It should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in the incorporated application may be directly implemented by a hardware processor, or may be implemented by a combination of hardware and software modules in the processor.
The Memory may include a Random Access Memory (RAM), and may further include a Non-volatile Memory (NVM), such as at least one magnetic disk Memory, and may also be a usb disk, a removable hard disk, a read-only Memory, a magnetic disk, or an optical disk.
The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present application are not limited to only one bus or one type of bus.
The storage medium may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), electrically Erasable Programmable Read Only Memory (EEPROM), erasable Programmable Read-Only Memory (EPROM), programmable Read-Only Memory (PROM), read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk or optical disk. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.
An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the storage medium may reside as discrete components in an electronic device or host device.
The above description is only a specific implementation of the embodiments of the present application, but the scope of the embodiments of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the embodiments of the present application should be covered within the scope of the embodiments of the present application. Therefore, the protection scope of the embodiments of the present application shall be subject to the protection scope of the claims.

Claims (9)

1. A lane relationship determination method, characterized by comprising:
acquiring a current vehicle position point of a vehicle, and determining a current lane where the vehicle is located in a map based on the current vehicle position point;
determining point set information of the current lane and point set information of the other lanes in the preset range of the current lane; the point set information comprises point set coordinates and course angles corresponding to the lane center line;
for each lane in the rest of lanes, judging whether the lane and the current lane are in a front-back connection relationship or not according to the point set information of the lane and the point set information of the current lane so as to control the vehicle according to a judgment result;
wherein, the determining the point set information of the current lane and the point set information of the rest lanes in the preset range of the current lane comprises:
acquiring a current lane where the vehicle is located and reference lines corresponding to the rest lanes in a preset range of the current lane, and extracting point set coordinates of the reference lines in a preset area;
aiming at each point of a point set coordinate in a preset area, acquiring a corresponding course angle;
acquiring the width of each lane, a first distance between the outermost line of the left lane adjacent to the lane and the left line of the lane, and a second distance between the outermost line of the right lane adjacent to the lane and the right line of the lane;
and determining point set information of the current lane in a preset area and point set information of the rest lanes in the preset range of the current lane based on the width, the first distance and the second distance.
2. The method of claim 1, wherein extracting coordinates of a point set of the reference line within a preset area comprises:
searching extreme points of curvature on the reference line in a preset area, and judging whether the extreme points are larger than a preset threshold value or not for each extreme point;
if so, sequentially acquiring coordinates of point sets in a preset area according to a gradually increasing preset step length by taking the extreme point as a starting point until the gradually increasing preset step length is larger than a step length corresponding to the extreme point adjacent to the extreme point;
if not, the extreme point is taken as a starting point, and coordinates of point sets in the preset area are sequentially obtained according to a fixed preset step length.
3. The method of claim 1, wherein determining point set information of the current lane and point set information of remaining lanes within a preset range of the current lane in a preset area based on the width, the first distance, and the second distance comprises:
determining first point set coordinates of a center line of each lane within a preset area based on the width, the first distance, and the second distance;
calculating a first vector direction corresponding to the first point set coordinate in the map and a second vector direction corresponding to a universal transverse axis Mercator projection UTM coordinate system;
and mapping the first point set coordinate based on the mean value of the difference between the first vector direction and the second vector direction and the course angle corresponding to each point in the first point set coordinate, and determining the point set information of the current lane and the point set information of the other lanes in the preset range of the current lane.
4. The method of claim 1, wherein determining whether the lane is in a tandem relationship with the current lane based on the point set information of the lane and the point set information of the current lane comprises:
determining a first starting point coordinate and a first end point coordinate based on a course angle and a point set coordinate in the point set information of the lane, and determining a second starting point coordinate and a second end point coordinate based on the course angle and the point set coordinate in the point set information of the current lane;
judging whether the distance between the first starting point coordinate and the second end point coordinate meets a first preset condition or not; the first preset condition is that the first preset condition is greater than a first threshold value; or, judging whether the distance between the second starting point coordinate and the first end point coordinate meets a second preset condition; the second preset condition is that the second preset condition is greater than a second threshold value;
and determining whether the lane and the current lane are in a front-rear connection relation or not based on the judgment result.
5. The method of claim 4, wherein the tandem relationship comprises a predecessor relationship and a successor relationship; determining whether the lane and the current lane are in a front-back connection relation based on the judgment result, wherein the steps of:
if the distance between the first starting point coordinate and the second ending point coordinate meets a first preset condition, determining that the lane and the current lane are in a subsequent relationship;
and if the distance between the second starting point coordinate and the first end point coordinate meets a second preset condition, determining that the lane and the current lane are in a precursor relationship.
6. The method according to any one of claims 1-5, further comprising:
acquiring a first number corresponding to the current lane and second numbers corresponding to the rest lanes within the preset range of the current lane;
if the first number and the second number are the same number, determining that the current lane and the rest lanes located in the preset range of the current lane are the same-direction lanes;
and if the first number and the second number are different signs, determining that the current lane and the rest lanes located in the preset range of the current lane are reverse lanes.
7. A lane relation determining apparatus, characterized by comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring a current vehicle position point of a vehicle and determining a current lane where the vehicle is located in a map based on the current vehicle position point;
the determining module is used for determining the point set information of the current lane and the point set information of the other lanes in the preset range of the current lane; the point set information comprises point set coordinates and a course angle corresponding to the lane center line;
the judging module is used for judging whether the lane and the current lane are in a front-back connection relation or not according to the point set information of the lane and the point set information of the current lane aiming at each lane in the other lanes so as to control the vehicle according to a judgment result;
wherein, the determining the point set information of the current lane and the point set information of the other lanes in the preset range of the current lane comprises:
acquiring a current lane where the vehicle is located and reference lines corresponding to the rest lanes in a preset range of the current lane, and extracting point set coordinates of the reference lines in a preset area;
aiming at each point of a point set coordinate in a preset area, acquiring a corresponding course angle;
acquiring the width of each lane, a first distance between the outermost line of the left lane adjacent to the lane and the left line of the lane, and a second distance between the outermost line of the right lane adjacent to the lane and the right line of the lane;
and determining point set information of the current lane in a preset area and point set information of the rest lanes in the preset range of the current lane based on the width, the first distance and the second distance.
8. An electronic device, comprising: a processor, and a memory communicatively coupled to the processor;
the memory stores computer-executable instructions;
the processor executes computer-executable instructions stored by the memory to implement the method of any of claims 1-6.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer-executable instructions which, when executed by a processor, are for implementing the lane relation determination method according to any one of claims 1 to 6.
CN202210924277.8A 2022-08-03 2022-08-03 Lane relation determination method and device, electronic equipment and storage medium Active CN115061479B (en)

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